Jolaei Mohammad, Hooshiar Amir, Sayadi Amir, Dargahi Javad, Packirisamy Muthukumaran
Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:5248-5251. doi: 10.1109/EMBC44109.2020.9176019.
In the present study, a sensor-free force control framework for tendon-driven steerable catheters was proposed and validated. The hypothesis of this study was that the contact force between the catheter tip and the tissue could be controlled using the estimated force with a previously validated displacement-based viscoelastic tissue model. The tissue model was used in a feedback control loop. The model estimated the contact force based on a realtime estimation of catheter-tissue indentation depth performed by a data-driven inverse kinematic model. To test the hypothesis, a tendon-driven catheter (φ6 × 40mm) and a robotic catheter intervention system were prototyped and characterized. Three validation studies were performed to test the performance of the proposed system with static and dynamic inputs. The results showed that the system was capable of reaching to the desired force with a root-mean-square error of 0.03 ± 0.02N for static tests and 0.05 ± 0.04N for dynamic inputs. The main contribution of this study was providing a computationally efficient and sensor-free force control schema for tendon-driven catheters.
在本研究中，提出并验证了一种用于腱驱动可转向导管的无传感器力控制框架。本研究的假设是，使用基于先前验证的基于位移的粘弹性组织模型的估计力，可以控制导管尖端与组织之间的接触力。该组织模型用于反馈控制回路。该模型基于由数据驱动的逆运动学模型对导管-组织压痕深度的实时估计来估计接触力。为了验证该假设，制作了一个腱驱动导管（φ6×40mm）和一个机器人导管介入系统并对其进行了表征。进行了三项验证研究，以测试所提出系统在静态和动态输入下的性能。结果表明，该系统能够达到所需的力，静态测试的均方根误差为0.03±0.02N，动态输入的均方根误差为0.05±0.04N。本研究的主要贡献是为腱驱动导管提供了一种计算高效的无传感器力控制方案。
